with \(\omega = \mu v\) , which is now a measure. This change of variable transforms the kinetic energy which is non-convex in \((\mu , v)\)  into a one-homogeneous convex Lagrangian \(\frac{1}{2} \frac{\Vert \omega \Vert ^2}{\mu }\) . As put forward in [1]} this formulation can now be solved numerically with convex optimization algorithms.
